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<div class="title">geometric_consistency.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_IMPL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_IMPL_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/cg/geometric_consistency.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_types.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection_sample_consensus.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keywordtype">bool</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;gcCorrespSorter (<a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> i, <a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> j) </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{ </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">return</span> (i.distance &lt; j.distance); </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>ModelT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>SceneT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#a4f9a23ce63b055b47ad20fdf4ab41855">   57</a></span>&#160;<a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#a4f9a23ce63b055b47ad20fdf4ab41855">pcl::GeometricConsistencyGrouping&lt;PointModelT, PointSceneT&gt;::clusterCorrespondences</a> (std::vector&lt;Correspondences&gt; &amp;model_instances)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  model_instances.clear ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  found_transformations_.clear ();</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (!model_scene_corrs_)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    PCL_ERROR(</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="stringliteral">&quot;[pcl::GeometricConsistencyGrouping::clusterCorrespondences()] Error! Correspondences not set, please set them before calling again this function.\n&quot;</span>);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  }</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  CorrespondencesPtr sorted_corrs (<span class="keyword">new</span> Correspondences (*model_scene_corrs_));</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  std::sort (sorted_corrs-&gt;begin (), sorted_corrs-&gt;end (), gcCorrespSorter);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  model_scene_corrs_ = sorted_corrs;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  std::vector&lt;int&gt; consensus_set;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  std::vector&lt;bool&gt; taken_corresps (model_scene_corrs_-&gt;size (), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  Eigen::Vector3f dist_ref, dist_trg;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">//temp copy of scene cloud with the type cast to ModelT in order to use Ransac</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  PointCloudPtr temp_scene_cloud_ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> ());</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  pcl::copyPointCloud&lt;PointSceneT, PointModelT&gt; (*scene_, *temp_scene_cloud_ptr);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus&lt;PointModelT&gt;</a> corr_rejector;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  corr_rejector.<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">setMaximumIterations</a> (10000);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  corr_rejector.<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48a908a4f76abe9b09d245e295bc00e2">setInlierThreshold</a> (gc_size_);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  corr_rejector.<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">setInputSource</a>(input_);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  corr_rejector.<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">setInputTarget</a> (temp_scene_cloud_ptr);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; model_scene_corrs_-&gt;size (); ++i)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">if</span> (taken_corresps[i])</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    consensus_set.clear ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    consensus_set.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; model_scene_corrs_-&gt;size (); ++j)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordflow">if</span> ( j != i &amp;&amp;  !taken_corresps[j])</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="comment">//Let&#39;s check if j fits into the current consensus set</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordtype">bool</span> is_a_good_candidate = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; consensus_set.size (); ++k)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordtype">int</span> scene_index_k = model_scene_corrs_-&gt;at (consensus_set[k]).index_match;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          <span class="keywordtype">int</span> model_index_k = model_scene_corrs_-&gt;at (consensus_set[k]).index_query;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          <span class="keywordtype">int</span> scene_index_j = model_scene_corrs_-&gt;at (j).index_match;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          <span class="keywordtype">int</span> model_index_j = model_scene_corrs_-&gt;at (j).index_query;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <span class="keyword">const</span> Eigen::Vector3f&amp; scene_point_k = scene_-&gt;at (scene_index_k).getVector3fMap ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">const</span> Eigen::Vector3f&amp; model_point_k = input_-&gt;at (model_index_k).getVector3fMap ();</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          <span class="keyword">const</span> Eigen::Vector3f&amp; scene_point_j = scene_-&gt;at (scene_index_j).getVector3fMap ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keyword">const</span> Eigen::Vector3f&amp; model_point_j = input_-&gt;at (model_index_j).getVector3fMap ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          dist_ref = scene_point_k - scene_point_j;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          dist_trg = model_point_k - model_point_j;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <span class="keywordtype">double</span> distance = fabs (dist_ref.norm () - dist_trg.norm ());</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <span class="keywordflow">if</span> (distance &gt; gc_size_)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            is_a_good_candidate = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">if</span> (is_a_good_candidate)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          consensus_set.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (j));</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (consensus_set.size ()) &gt; gc_threshold_)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      Correspondences temp_corrs, filtered_corrs;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; consensus_set.size (); j++)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        temp_corrs.push_back (model_scene_corrs_-&gt;at (consensus_set[j]));</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        taken_corresps[ consensus_set[j] ] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="comment">//ransac filtering</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      corr_rejector.<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">getRemainingCorrespondences</a> (temp_corrs, filtered_corrs);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="comment">//save transformations for recognize</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      found_transformations_.push_back (corr_rejector.<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a1542fc4a3d5d6c82485a321864a027af">getBestTransformation</a> ());</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      model_instances.push_back (filtered_corrs);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;}</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>ModelT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>SceneT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#abded7fa54f6a24ff4d70fce277ed4ed6">  153</a></span>&#160;<a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#abded7fa54f6a24ff4d70fce277ed4ed6">pcl::GeometricConsistencyGrouping&lt;PointModelT, PointSceneT&gt;::recognize</a> (</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp;transformations)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  std::vector&lt;pcl::Correspondences&gt; model_instances;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordflow">return</span> (this-&gt;recognize (transformations, model_instances));</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>ModelT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>SceneT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_geometric_consistency_grouping.html#abfb0e4c6810df5c01f1153377e4a4a20">  162</a></span>&#160;<a class="code" href="classpcl_1_1_geometric_consistency_grouping.html#abded7fa54f6a24ff4d70fce277ed4ed6">pcl::GeometricConsistencyGrouping&lt;PointModelT, PointSceneT&gt;::recognize</a> (</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp;transformations, std::vector&lt;pcl::Correspondences&gt; &amp;clustered_corrs)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;{</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  transformations.clear ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">if</span> (!this-&gt;initCompute ())</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    PCL_ERROR(</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="stringliteral">&quot;[pcl::GeometricConsistencyGrouping::recognize()] Error! Model cloud or Scene cloud not set, please set them before calling again this function.\n&quot;</span>);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  clusterCorrespondences (clustered_corrs);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  transformations = found_transformations_;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  this-&gt;deinitCompute ();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_GeometricConsistencyGrouping(T,ST) template class PCL_EXPORTS pcl::GeometricConsistencyGrouping&lt;T,ST&gt;;</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_IMPL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_a4f9a23ce63b055b47ad20fdf4ab41855"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#a4f9a23ce63b055b47ad20fdf4ab41855">pcl::GeometricConsistencyGrouping::clusterCorrespondences</a></div><div class="ttdeci">void clusterCorrespondences(std::vector&lt; Correspondences &gt; &amp;model_instances)</div><div class="ttdoc">Cluster the input correspondences in order to distinguish between different instances of the model in...</div><div class="ttdef"><b>Definition:</b> geometric_consistency.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_geometric_consistency_grouping_html_abded7fa54f6a24ff4d70fce277ed4ed6"><div class="ttname"><a href="classpcl_1_1_geometric_consistency_grouping.html#abded7fa54f6a24ff4d70fce277ed4ed6">pcl::GeometricConsistencyGrouping::recognize</a></div><div class="ttdeci">bool recognize(std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;transformations)</div><div class="ttdoc">The main function, recognizes instances of the model into the scene set by the user.</div><div class="ttdef"><b>Definition:</b> geometric_consistency.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a></div><div class="ttdoc">CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a0ade3619194ea442ea9bd819762e63d0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">pcl::registration::CorrespondenceRejectorSampleConsensus::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a1542fc4a3d5d6c82485a321864a027af"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a1542fc4a3d5d6c82485a321864a027af">pcl::registration::CorrespondenceRejectorSampleConsensus::getBestTransformation</a></div><div class="ttdeci">Eigen::Matrix4f getBestTransformation()</div><div class="ttdoc">Get the best transformation after RANSAC rejection.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a2aaf796cecda8778814f114c54026570"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">pcl::registration::CorrespondenceRejectorSampleConsensus::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a42faaefd43eaf43b32efe0b1722a3d98"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">pcl::registration::CorrespondenceRejectorSampleConsensus::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a48a908a4f76abe9b09d245e295bc00e2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48a908a4f76abe9b09d245e295bc00e2">pcl::registration::CorrespondenceRejectorSampleConsensus::setInlierThreshold</a></div><div class="ttdeci">void setInlierThreshold(double threshold)</div><div class="ttdoc">Set the maximum distance between corresponding points. Correspondences with distances below the thres...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a49fa9e17ad1e371c4b5db9766d598349"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">pcl::registration::CorrespondenceRejectorSampleConsensus::setMaximumIterations</a></div><div class="ttdeci">void setMaximumIterations(int max_iterations)</div><div class="ttdoc">Set the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:195</div></div>
<div class="ttc" id="astructpcl_1_1_correspondence_html"><div class="ttname"><a href="structpcl_1_1_correspondence.html">pcl::Correspondence</a></div><div class="ttdoc">Correspondence represents a match between two entities (e.g., points, descriptors,...</div><div class="ttdef"><b>Definition:</b> correspondence.h:59</div></div>
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